Boat Overview (Software)
New Upgrades On Minion For The 2025 Competition
The software architecture for Miniminion is derived from the RobotX system. Components enclosed in dashed rectangular boxes will be reused for MiniMinion. Components in blue dashed boxes have undergone minor modifications, while those in red dashed boxes are being rewritten to accommodate significant changes.
GB-CACHE flowchart with required processes in blue and optional processes in yellow
GB-Cache
Grid-Based Clustering and Concave Hull Extraction (GB-CACHE) is an optimized version of the Euclidean clustering algorithm designed for efficient processing of unstructured point clouds. This method employs a voxel grid for feature analysis and a two-dimensional grid for clustering and concave hull extraction. GB-CACHE structures the point cloud data, enabling enhanced feature analysis and supporting optional object classification based on features derived from the clustering and hull extraction processes.
Vision
Miniminion’s perception system integrates an HDR camera and Livox HAP LiDAR, both with a 120-degree field of view. The HDR camera captures detailed images under varying lighting conditions, enabling object-detection of marine objects like buoys and other boats, while the LiDAR provides precise 3D spatial data crucial for obstacle detection and mapping waterways. Fusing this data boosts our perception capabilities, leading to efficient and safe operations on the water.
Controls System
The software controlling Minion's propulsion system enables precise autonomous navigation through an all-new control strategy. Using a feedback-driven control system, it dynamically adjusts thrust and steering for optimal movement across surge and yaw. The front motor controls the boat's yaw using a PID controller to minimize lateral deviation, while the rear motor manages longitudinal velocity with a PID controller to maintain forward speed. By decoupling the control of yaw and forward motion, this approach ensures smooth, efficient navigation with minimal system complexity, while automatically selecting the most efficient operational setup based on current conditions.